BLDC with 8i20 and Fanuc Encoder

Hi,
I have a 8i20 drive connected to a Fanuc motor with a a64 serial encoder connected to a 7i44 board.
I have communication with the absolute encoder working, but I my question is with what signals to use with BLDC

The HAL Fanuc encoder module has a .comm pin that outputs a 0-1 float signal 4 times per motor rotation. This is the phase position and should be used to drive the motor.

But I am not sure how to get the 0-1 signal in to the BLDC module and what config mode to use.

You should then find that the 8i20 runs the motor one way for positive current and the other way for negative.
If it doesn't then you can try swapping the motor wires around, one combination ought to work.

Only then is it worth putting the bldc comp in the chain, and all it is likely to do is insert an angular offset.

Snippets of my HAL where one motor has an aligned and correct pole-count resolver, and one motor doesn't. So one uses blddc and one doesn't

Note that I am using the hostmot2 "use_serial_numbers" option that identifies smart-serial devices by part of their serial number rather than by the socket they are plugged in to, so my pin names might look different to yours

I tried netting the comm pin to the angle before, but I didn't think about changing the motor wires.
But this still doesn't seem to work. Every wiring combo just make the motor have a slight hiss when running.

I have also tried playing around with the BLDC encoder offset / poles settings for a few days now and the best I have had is the motor vibrating.
I am really at a loss here on what to do to make this work, and I still have 5 more motors to connect to this system...

The 8i20 thinks that zero is the rotor position when the A / U phase is connected to +V and the B/C/V/W phases are connected to -V.

So initially I would suggest setting that up with a generic PSU or even a battery to get a reference. (this probably coincides with the keyway pointing to the face of the motor where the connectors are.

Then check that this (and all the other possible "zero" positions around the 4 poles) coincide with the encoder .comm output being zero.

You can then try using "setp" to alter the 8i20 phase angle to try to work out if the 8i20 and the encoder agree about direction.

When a motor like this won't spin it is generally a "disagreement" about direction such that the phase angle and rotor run towards each other rather than away.